This paper is the sixth in a series aimed at weakening the independence assumptions that are typically presumed
in multitarget tracking. Earlier papers investigated Bayes …lters that propagate the correlations between two
evolving multitarget systems. Last year at this conference we attempted to derive PHD …lter-type approximations
that account for both spatial correlation and cardinality correlation (i.e., correlation between the target numbers
of the two systems). Unfortunately, this approach required heuristic models of both clutter and target appearance
in order to incorporate both spatial and cardinality correlation. This paper describes a fully rigorous approach-
provided, however, that spatial correlation between the two populations is ignored and only their cardinality
correlations are taken into account. We derive the time-update and measurement-update equations for a CPHD
…lter describing the evolution of such correlated multitarget populations.
Ronald Mahler, "Tracking correlated, simultaneously evolving target populations, II," Proc. SPIE 10200, Signal Processing, Sensor/Information Fusion, and Target Recognition XXVI, 102000C (Presented at SPIE Defense + Security: April 11, 2017; Published: 2 May 2017); https://doi.org/10.1117/12.2262777.
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